#!/bin/bash

# 加载 ROS 环境
source /opt/ros/foxy/setup.bash
source /home/nvidia/hil_simulate/install/setup.bash

# 启动导航 launch 文件
ros2 launch image_publisher_pkg image_publisher_pkg_launch.py &

# 启动建图 launch 文件
ros2 launch yolo_detect_pkg yolo_detect_launch.py &

source /opt/ros/foxy/setup.bash; ros2 run mavros mavros_node  --remap __ns:=/drone_0 --ros-args -p fcu_url:=udp://:14550@192.168.16.52:4152 -p tgt_system:=2 &  ros2 run drone_control drone_height_control &

# 等待所有进程
wait
